Quaternion to Rotation

void riscv_quaternion2rotation_f32(const float32_t *pInputQuaternions, float32_t *pOutputRotations, uint32_t nbQuaternions)
group QuatRot

Conversions from quaternion to rotation.

Functions

void riscv_quaternion2rotation_f32(const float32_t *pInputQuaternions, float32_t *pOutputRotations, uint32_t nbQuaternions)

Conversion of quaternion to equivalent rotation matrix.

The quaternion a + ib + jc + kd is converted into rotation matrix: Rotation matrix is saved in row order : R00 R01 R02 R10 R11 R12 R20 R21 R22

Format of rotation matrix

Parameters

  • pInputQuaternions – [in] points to an array of normalized quaternions

  • pOutputRotations – [out] points to an array of 3x3 rotations (in row order)

  • nbQuaternions – [in] number of quaternions in the array

Returns

none.